Medical instrument delivery apparatus and interventional operation robot

Abstract

A medical instrument delivery apparatus and an interventional operation robot. The medical instrument delivery apparatus comprises: a driving mechanism (10) and a guidewire end fixing mechanism (20), wherein the guidewire end fixing mechanism (20) is configured to clamp or release a guidewire (a). During fitting, the guidewire (a) is controlled to be separated from the driving mechanism (10), and then the tip of a rapid exchange balloon (b) is controlled to enter from the end of the guidewire (a), with the end of the guidewire (a) passing out from a rapid exchange port of the rapid exchange balloon (b), and the rapid exchange port of the rapid exchange balloon (b) passing through the guidewire end fixing mechanism (20); the guidewire end fixing mechanism (20) is controlled to clamp the guidewire (a); and the rapid exchange balloon (b) is controlled to move along the guidewire (a) in a direction away from the guidewire end fixing mechanism (20). During the fitting or removal of the rapid exchange balloon (b), the guidewire (a) is fixed by means of the guidewire end fixing mechanism (20), which avoids displacement of the guidewire (a) to improve the stability of the guidewire (a), thereby reducing the operation difficulty and improving the operation efficiency and accuracy.

Description

Medical device delivery device and interventional surgery robot

[0001] This application claims priority to a Chinese patent application filed on August 2, 2023, with application number 202310973377.4 and invention name “A medical device delivery device and interventional surgical robot”. The entire contents of this Chinese patent application are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of medical device technology, and more specifically, to a medical device delivery device and an interventional surgical robot. Background Art

[0003] When assembling the rapid exchange balloon, it is necessary to first control the guide wire to detach from the drive mechanism, then control the head end of the rapid exchange balloon to pass through the tail end of the guide wire, and the tail end of the guide wire to pass through the rapid exchange port of the rapid exchange balloon, and then control the rapid exchange balloon to move along the guide wire away from the drive mechanism. Finally, control the rapid exchange balloon to enter the drive mechanism, and control the guide wire to enter the drive mechanism.

[0004] During the installation of the rapid exchange balloon, in order to ensure safety, the front end of the guide wire needs to be fixed, that is, the front end of the guide wire cannot be displaced. However, the guide wire is not fixed during the installation process, and whether the front end of the guide wire moves depends on the operator's control. Therefore, the installation of the rapid exchange balloon has high requirements and is difficult. Technical issues

[0005] The rapid exchange balloon in the prior art has the problems of high installation requirements and great difficulty. Technical Solutions

[0006] In order to solve the above technical problems, the present invention provides a medical device delivery device, which adopts the following technical solutions:

[0007] A medical device delivery device comprises: a driving mechanism and a guide wire tail end fixing mechanism; the guide wire tail end fixing mechanism is used to clamp or release the guide wire;

[0008] During assembly, after the guide wire is controlled to detach from the driving mechanism, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guide wire tail end fixing mechanism, the guide wire tail end fixing mechanism is controlled to clamp the guide wire, and the rapid exchange balloon is controlled to move along the guide wire in the direction away from the guide wire tail end fixing mechanism.

[0009] Furthermore, the distance between the driving mechanism and the guidewire tail end fixing mechanism is greater than the distance between the rapid exchange balloon head end and the rapid exchange port.

[0010] Furthermore, the driving mechanism includes a guidewire delivery device, a fast delivery device and a catheter delivery device which are sequentially arranged at intervals;

[0011] During assembly, after the guidewire is controlled to detach from the guidewire delivery device, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guidewire, and the tail end of the guidewire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guidewire tail end fixing mechanism to clamp the guidewire; the part before the rapid exchange port of the rapid exchange balloon is controlled to enter the catheter delivery device, and the part after the rapid exchange port of the rapid exchange balloon is controlled to enter the rapid exchange delivery device; the guidewire tail end fixing mechanism is controlled to release the guidewire, and the guidewire is controlled to enter the guidewire delivery device;

[0012] During disassembly, after controlling the guidewire to detach from the guidewire delivery device, the guidewire tail end fixing mechanism is controlled to clamp the guidewire; the rapid exchange balloon is controlled to move along the guidewire in a direction away from the catheter delivery device, so that the part in front of the rapid exchange port of the rapid exchange balloon exits the catheter delivery device.

[0013] Furthermore, the guidewire tail end fixing mechanism includes a fixing frame and a clamping device, and the clamping device is movably arranged on the fixing frame;

[0014] During assembly, after the guide wire is controlled to detach from the driving mechanism, the rapid exchange balloon is controlled to pass through the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, the rapid exchange port of the rapid exchange balloon is controlled to pass through the channel, and the guide wire is controlled to enter the channel, and the clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel;

[0015] During disassembly, after controlling the guide wire to detach from the driving mechanism, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, and the guide wire is controlled to enter the channel. The clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the driving mechanism, so that the part of the rapid exchange balloon in front of the rapid exchange port exits the driving mechanism.

[0016] Furthermore, the clamping device includes a reset assembly and a movable plate; the reset assembly is provided on the fixed frame and connected to the movable plate, and is used to drive the movable plate to move on the fixed frame; the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire;

[0017] During assembly, the movable plate is controlled to move on the fixed frame so that the channel is formed between the movable plate and the fixed frame, and after the guide wire is controlled to enter the channel, the reset assembly drives the movable plate to move on the fixed frame so that the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire.

[0018] Furthermore, a receiving groove is provided on the fixing frame, the reset component is located at the bottom of the receiving groove, the reset component drives the movable plate to slide in the receiving groove, and the movable plate abuts against one side of the receiving groove to clamp the guide wire.

[0019] Furthermore, the reset assembly includes a first elastic member and a connecting plate. The first elastic member is provided on the fixing frame and connected to the connecting plate, and is used to drive the connecting plate to drive the movable plate to slide on the fixing frame.

[0020] Furthermore, a vertical plate is provided on one side of the fixed frame, a receiving groove is provided on the vertical plate, the reset component is provided on the vertical plate, one end of the movable plate is connected to the reset component, and the reset component drives the movable plate to rotate toward or away from the receiving groove away from one end of the reset component, and the end of the movable plate abuts against the receiving groove to clamp the guide wire.

[0021] Furthermore, the reset assembly includes a second elastic member and a connecting column, the connecting column is provided on the vertical plate, the two ends of the second elastic member are respectively connected to the connecting column and the movable plate, and the end of the movable plate away from the second elastic member is rotatably connected to the vertical plate.

[0022] In order to solve the above technical problems, the present application also provides an interventional surgical robot, which adopts the following technical solutions:

[0023] An interventional surgical robot comprises the medical instrument delivery device as described above. Beneficial effects

[0024] Compared with the prior art, the embodiments of the present application have the following main beneficial effects: when assembling or disassembling the rapid exchange balloon, the present application fixes the guide wire through the guide wire tail end fixing mechanism, thereby avoiding displacement of the guide wire, increasing the stability of the guide wire, reducing the difficulty of operation, and thereby improving the efficiency and accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the solution of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a perspective view of an embodiment of a medical device delivery device provided by the present application;

[0027] FIG2 is a top view of FIG1 ;

[0028] FIG3 is a perspective view of an embodiment of a guidewire tail end fixing mechanism provided by the present application;

[0029] FIG4 is a top view of FIG3;

[0030] FIG5 is a cross-sectional view of FIG4 at AA;

[0031] FIG6 is a perspective view of another embodiment of a guidewire tail end fixing mechanism provided by the present application;

[0032] FIG7 is a top view of FIG6;

[0033] FIG8 is an enlarged view of point B in FIG6 .

[0034] Reference numerals:

[0035] 10. Drive mechanism; 11. Guidewire delivery device; 12. Fast delivery device; 13. Catheter delivery device;

[0036] 20. Guidewire tail end fixing mechanism; 21. Fixing frame; 211. Accommodating groove; 2111. Position-limiting protruding ring; 212. Vertical plate; 213. Accommodating groove; 22. Clamping device; 221. Resetting assembly; 2211. First elastic member; 2212. Connecting plate; 2213. Second elastic member; 2214. Connecting column; 222. Movable plate; 2221. Position-limiting groove; 2222. Fixing column; 2223. Connecting plate;

[0037] a. Guidewire; b. Rapid exchange balloon. Best Mode for Carrying Out the Invention

[0038] An embodiment of the present application provides a medical device delivery device, as shown in Figures 1 and 2, the medical device delivery device includes: a driving mechanism 10 and a guidewire tail end fixing mechanism 20; the guidewire tail end fixing mechanism 20 is used to clamp or release the guidewire a.

[0039] During assembly, after the guide wire a is controlled to detach from the driving mechanism 10, the head end of the rapid exchange balloon b is controlled to pass through the tail end of the guide wire a, and the tail end of the guide wire a passes through the rapid exchange port of the rapid exchange balloon b, and the rapid exchange port of the rapid exchange balloon b passes through the guide wire tail end fixing mechanism 20, the guide wire tail end fixing mechanism 20 is controlled to clamp the guide wire a, and the rapid exchange balloon b is controlled to move along the guide wire a in the direction away from the guide wire tail end fixing mechanism 20; then, the rapid exchange balloon b is controlled to enter the driving mechanism 10, and the guide wire a is controlled to enter the driving mechanism 10.

[0040] During disassembly, after controlling the guide wire a to detach from the driving mechanism 10, the guide wire tail end fixing mechanism 20 is controlled to clamp the guide wire a, and the rapid exchange balloon b is controlled to move along the guide wire a toward the guide wire tail end fixing mechanism 20, so that the rapid exchange balloon b detaches from the driving mechanism 10; the guide wire tail end fixing mechanism 20 is controlled to release the guide wire a, and the rapid exchange balloon b is controlled to detach from the guide wire a; finally, the guide wire a is controlled to enter the driving mechanism 10.

[0041] The beneficial effects of the medical device delivery device provided in the embodiment of the present application are: when assembling or disassembling the rapid exchange balloon b, the present application fixes the guide wire a through the guide wire tail end fixing mechanism 20, thereby avoiding displacement of the guide wire a, increasing the stability of the guide wire a, reducing the difficulty of operation, and thereby improving the efficiency and accuracy of the operation.

[0042] An embodiment of the present application also provides an interventional surgical robot, which includes the medical device delivery device as described above and has technical effects corresponding to the medical device delivery device. Modes for Carrying Out the Invention

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0044] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0046] An embodiment of the present application provides a medical device delivery device, as shown in Figures 1 and 2, the medical device delivery device includes: a driving mechanism 10 and a guidewire tail end fixing mechanism 20; the guidewire tail end fixing mechanism 20 is used to clamp or release the guidewire a.

[0047] During assembly, after the guide wire a is controlled to detach from the driving mechanism 10, the head end of the rapid exchange balloon b is controlled to pass through the tail end of the guide wire a, and the tail end of the guide wire a passes through the rapid exchange port of the rapid exchange balloon b, and the rapid exchange port of the rapid exchange balloon b passes through the guide wire tail end fixing mechanism 20, the guide wire tail end fixing mechanism 20 is controlled to clamp the guide wire a, and the rapid exchange balloon b is controlled to move along the guide wire a in the direction away from the guide wire tail end fixing mechanism 20; then, the rapid exchange balloon b is controlled to enter the driving mechanism 10, and the guide wire a is controlled to enter the driving mechanism 10.

[0048] During disassembly, after controlling the guide wire a to detach from the driving mechanism 10, the guide wire tail end fixing mechanism 20 is controlled to clamp the guide wire a, and the rapid exchange balloon b is controlled to move along the guide wire a toward the guide wire tail end fixing mechanism 20, so that the rapid exchange balloon b detaches from the driving mechanism 10; the guide wire tail end fixing mechanism 20 is controlled to release the guide wire a, and the rapid exchange balloon b is controlled to detach from the guide wire a; finally, the guide wire a is controlled to enter the driving mechanism 10.

[0049] The beneficial effects of the medical device delivery device provided in the embodiment of the present application are: when assembling or disassembling the rapid exchange balloon b, the present application fixes the guide wire a through the guide wire tail end fixing mechanism 20, thereby avoiding displacement of the guide wire a, increasing the stability of the guide wire a, reducing the difficulty of operation, and thereby improving the efficiency and accuracy of the operation.

[0050] Furthermore, the distance between the driving mechanism 10 and the guidewire tail end fixing mechanism 20 is greater than the distance between the head end of the rapid exchange balloon b and the rapid exchange port.

[0051] In this embodiment, the distance between the driving mechanism 10 and the guidewire tail end fixing mechanism 20 is limited to ensure that after the head end of the rapid exchange balloon b passes through the tail end of the guidewire a, the coaxial part of the rapid exchange balloon b and the guidewire a (i.e., the part between the head end of the rapid exchange balloon b and the rapid exchange port) is located in front of the guidewire tail end fixing mechanism 20, preventing the guidewire tail end fixing mechanism 20 from clamping the rapid exchange balloon b, so as to ensure that the guidewire tail end fixing mechanism 20 can clamp the guidewire a, thereby increasing the reliability of the medical device delivery equipment and further ensuring the stability of the guidewire a.

[0052] As shown in FIG1 and FIG2 , further, the driving mechanism 10 includes a guidewire delivery device 11 , a fast delivery device 12 and a catheter delivery device 13 , which are sequentially arranged at intervals;

[0053] During assembly, after controlling the guidewire a to detach from the guidewire delivery device 11, control the head end of the rapid exchange balloon b to pass through the tail end of the guidewire a, and the tail end of the guidewire a to pass through the rapid exchange port of the rapid exchange balloon b, and make the rapid exchange port of the rapid exchange balloon b pass through the guidewire tail end fixing mechanism 20 to clamp the guidewire a; control the part in front of the rapid exchange port of the rapid exchange balloon b to enter the catheter delivery device 13, and control the part behind the rapid exchange port of the rapid exchange balloon b to enter the rapid exchange delivery device 12; control the guidewire tail end fixing mechanism 20 to release the guidewire a, and control the guidewire a to enter the guidewire delivery device 11.

[0054] During disassembly, after controlling the guidewire a to detach from the guidewire delivery device 11, control the guidewire tail end fixing mechanism 20 to clamp the guidewire a; control the rapid exchange balloon b to move along the guidewire a in a direction away from the catheter delivery device 13, so that the part of the rapid exchange balloon b in front of the rapid exchange port exits the catheter delivery device 13; control the guidewire tail end fixing mechanism 20 to release the guidewire a, control the rapid exchange balloon b to move along the guidewire a in a direction away from the catheter delivery device 13 until the rapid exchange balloon b detaches from the guidewire a; control the guidewire a to enter the guidewire delivery device 11.

[0055] In the prior art, when the tip of the rapid exchange balloon b is close to the catheter delivery device 13, the portion of the guide wire a that passes through the rapid exchange port of the rapid exchange balloon b (i.e., the tail end of the guide wire a) is suspended in the air; if the portion in front of the rapid exchange port of the rapid exchange balloon b is controlled to enter the catheter delivery device 13, it is necessary to control the tail end of the guide wire a to remain stationary, and at the same time control the portion in front of the rapid exchange port of the rapid exchange balloon b to enter the catheter delivery device 13, resulting in high installation requirements and great difficulty for the rapid exchange balloon b.

[0056] In this embodiment, when the rapid exchange port of the rapid exchange balloon b passes through the guide wire tail end fixing mechanism 20, so that the head end of the rapid exchange balloon b is close to the catheter delivery device 13, the guide wire tail end fixing mechanism 20 is controlled to clamp the guide wire a, and then the part in front of the rapid exchange port of the rapid exchange balloon b is controlled to enter the catheter delivery device 13; because in this embodiment, during assembly, the guide wire a is fixed by the guide wire tail end fixing mechanism 20, so that the tail end of the guide wire a remains stationary, avoiding displacement of the guide wire a, thereby reducing the difficulty of operation and improving the efficiency and accuracy of the operation.

[0057] As shown in FIG. 1 and FIG. 2 , further, the guidewire tail end fixing mechanism 20 includes a fixing frame 21 and a clamping device 22 , and the clamping device 22 is movably provided on the fixing frame 21 .

[0058] During assembly, after controlling the guide wire a to detach from the driving mechanism 10, the rapid exchange balloon b is controlled to pass through the tail end of the guide wire a, and the tail end of the guide wire a passes through the rapid exchange port of the rapid exchange balloon b, the clamping device 22 is controlled to move on the fixing frame 21 to form a channel between the clamping device 22 and the fixing frame 21, the rapid exchange port of the rapid exchange balloon b is controlled to pass through the channel, and the guide wire a is controlled to enter the channel, and the clamping device 22 is controlled to move on the fixing frame 21 to clamp the guide wire a in the channel.

[0059] During disassembly, after controlling the guide wire a to detach from the driving mechanism 10, the clamping device 22 is controlled to move on the fixing frame 21 to form a channel between the clamping device 22 and the fixing frame 21, and the guide wire a is controlled to enter the channel, and the clamping device 22 is controlled to move on the fixing frame 21 to clamp the guide wire a in the channel, and the rapid exchange balloon b is controlled to move along the guide wire a in the direction away from the driving mechanism 10, so that the part of the rapid exchange balloon b in front of the rapid exchange port exits the driving mechanism 10.

[0060] In this embodiment, the cooperation between the fixing frame 21 and the clamping device 22 facilitates the guidewire tail end fixing mechanism 20 to clamp or release the guidewire a, thereby reducing the difficulty of operating the medical device delivery apparatus.

[0061] Furthermore, the distance between the catheter delivery device 13 and the clamping device 22 is greater than the distance between the tip of the rapid exchange balloon b and the rapid exchange port.

[0062] As shown in Figures 3 to 5, further, the clamping device 22 includes a reset component 221 and a movable plate 222; the reset component 221 is arranged on the fixed frame 21 and connected to the movable plate 222, and is used to drive the movable plate 222 to move on the fixed frame 21; the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0063] During assembly, the movable plate 222 is controlled to move on the fixed frame 21 so that the channel is formed between the movable plate 222 and the fixed frame 21, and after the guide wire a is controlled to enter the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21 so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0064] In this embodiment, the movable plate 222 abuts against the inner wall of one side of the fixing frame 21, which simplifies the structure of the clamping device 22 and makes it easier to clamp or release the guide wire a.

[0065] As shown in Figures 3 to 5, further, a receiving groove 211 is provided on the fixing frame 21, and the reset component 221 is located at the bottom of the receiving groove 211. The reset component 221 drives the movable plate 222 to slide in the receiving groove 211, and the movable plate 222 abuts against one side of the receiving groove 211 to clamp the guide wire a.

[0066] In this embodiment, the accommodating groove 211 limits the movable space of the movable plate 222 to prevent the movable plate 222 from shifting during the sliding process, thereby improving the stability of the clamping device 22 .

[0067] As shown in FIG5 , further, the reset assembly 221 includes a first elastic member 2211 and a connecting plate 2212 . The first elastic member 2211 is provided on the fixing frame 21 and connected to the connecting plate 2212 , and is used to drive the connecting plate 2212 to drive the movable plate 222 to slide on the fixing frame 21 .

[0068] During assembly, the movable plate 222 is controlled to move in the accommodating groove 211 so that the channel is formed between the movable plate 222 and the side wall of one side of the accommodating groove 211. At the same time, the movable plate 222 drives the first elastic member 2211 to move, so that the first elastic member 2211 is squeezed and deformed; then, after controlling the guide wire a to enter the channel, the control of the movable plate 222 is cancelled, so that under the elastic potential energy of the first elastic member 2211, the first elastic member 2211 drives the connecting plate 2212 and the movable plate 222 to move in the accommodating groove 211, so that the movable plate 222 abuts against the inner wall of one side of the accommodating groove 211 to clamp the guide wire a.

[0069] In this embodiment, a simple structure of the first elastic member 2211 and the connecting plate 2212 is adopted, which reduces the production cost of the reset assembly 221 and achieves the purpose of clamping the guide wire a.

[0070] In this embodiment, the first elastic member 2211 is a spring.

[0071] As shown in Figure 5, further, the inner wall of the accommodating groove 211 is provided with a limiting protrusion 2111, and the movable plate 222 is provided with a limiting groove 2221 at one end adjacent to the reset component 221. A fixing column 2222 is provided in the limiting groove 2221, and the limiting groove 2221 is sleeved with the limiting protrusion 2111, and the inner diameter of the limiting groove 2221 is larger than the outer diameter of the limiting protrusion 2111, and the fixing column 2222 passes through the limiting protrusion 2111 and is connected to the reset component 221.

[0072] In this embodiment, the limiting protruding ring 2111 and the limiting groove 2221 limit the movable space of the fixing column 2222, thereby achieving the purpose of limiting the movable plate 222.

[0073] As shown in Figures 6 to 8, in another embodiment, a vertical plate 212 is provided on one side of the fixing frame 21, and a receiving groove 213 is provided on the vertical plate 212. The reset component 221 is provided on the vertical plate 212, and one end of the movable plate 222 is connected to the reset component 221. The reset component 221 drives the movable plate 222 to rotate toward or away from the receiving groove 213 away from one end of the reset component 221, and the end of the movable plate 222 abuts against the receiving groove 213 to clamp the guide wire a.

[0074] During assembly, the reset component 221 drives the movable plate 222 to rotate away from one end of the reset component 221 in the direction away from the accommodating groove 213, so that the end of the movable plate 222 is separated from the accommodating groove 213, and after controlling the guide wire a to enter the accommodating groove 213, the reset component 221 drives the movable plate 222 to rotate away from one end of the reset component 221 in the direction toward the accommodating groove 213, so that the end of the movable plate 222 abuts against the accommodating groove 213 to clamp the guide wire a.

[0075] In this embodiment, another structure of the fixing frame 21 and the resetting assembly 221 is provided, and the end of the movable plate 222 away from the resetting assembly 221 is rotated toward or away from the accommodating groove 213, so that the end of the movable plate 222 abuts against or separates from the accommodating groove 213, thereby achieving the clamping or release of the guide wire a.

[0076] As shown in Figure 8, further, the reset assembly 221 includes a second elastic member 2213 and a connecting column 2214, the connecting column 2214 is arranged on the vertical plate 212, the two ends of the second elastic member 2213 are respectively connected to the connecting column 2214 and the movable plate 222, and the end of the movable plate 222 away from the second elastic member 2213 is rotatably connected to the vertical plate 212.

[0077] During assembly, the movable plate 222 is controlled to rotate in the direction away from the accommodating groove 213 at one end away from the reset component 221, so that the end of the movable plate 222 is separated from the accommodating groove 213. At the same time, the second elastic member 2213 is squeezed and deformed. Then, after the guide wire a is controlled to enter the channel, the control of the movable plate 222 is canceled, so that under the elastic potential energy of the second elastic member 2213, the second elastic member 2213 drives the end of the movable plate 222 away from the reset component 221 to rotate in the direction of the accommodating groove 213, so that the end of the movable plate 222 abuts against the accommodating groove 213 to clamp the guide wire a.

[0078] In this embodiment, the second elastic member 2213 is fixed by the connecting column 2214 to avoid displacement of the second elastic member 2213 during assembly; the simple structure of the second elastic member 2213 and the connecting column 2214 reduces the production cost of the reset assembly 221 and achieves the purpose of clamping the guide wire a.

[0079] In this embodiment, the second elastic member 2213 is a spring.

[0080] As shown in FIG. 8 , further, a connecting plate 2223 is provided at one end of the movable plate 222 adjacent to the accommodating groove 213 , and an end of the connecting plate 2223 away from the movable plate 222 is rotatably connected to the vertical plate 212 .

[0081] In this embodiment, the connecting plate 2223 can ensure that when the movable plate 222 rotates toward the receiving groove 213 , the end of the movable plate 222 abuts against the receiving groove 213 .

[0082] Specifically, the medical device delivery device provided in the present application, during assembly, controls the guidewire a to detach from the guidewire delivery device 11, controls the head end of the rapid exchange balloon b to pass through the tail end of the guidewire a, and the tail end of the guidewire a to pass through the rapid exchange port of the rapid exchange balloon b, so that the rapid exchange port of the rapid exchange balloon b passes through the guidewire tail end fixing mechanism 20.

[0083] The movable plate 222 is controlled to move on the fixed frame 21 so that the channel is formed between the movable plate 222 and the fixed frame 21, and after the guide wire a is controlled to enter the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21 so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a; the part of the rapid exchange balloon b in front of the rapid exchange port is controlled to enter the catheter delivery device 13, and the part of the rapid exchange balloon b behind the rapid exchange port is controlled to enter the rapid exchange delivery device 12.

[0084] The movable plate 222 is controlled to move on the fixed frame 21 so that the channel is formed between the movable plate 222 and the fixed frame 21, and after the guide wire a is controlled to detach from the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21 so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to release the guide wire a; the guide wire tail end fixing mechanism 20 is controlled to release the guide wire a, and the guide wire a is controlled to enter the guide wire delivery device 11.

[0085] Specifically, the medical device delivery device provided in the present application, when disassembled, controls the guide wire a to detach from the guide wire delivery device 11, controls the movable plate 222 to move on the fixed frame 21, so that the channel is formed between the movable plate 222 and the fixed frame 21, and controls the guide wire a to enter the channel, and then the reset assembly 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to clamp the guide wire a.

[0086] The rapid exchange balloon b is controlled to move along the guide wire a in a direction away from the catheter delivery device 13, so that the part of the rapid exchange balloon b in front of the rapid exchange port exits the catheter delivery device 13; the movable plate 222 is controlled to move on the fixed frame 21, so that the channel is formed between the movable plate 222 and the fixed frame 21, and after the guide wire a is controlled to detach from the channel, the reset component 221 drives the movable plate 222 to move on the fixed frame 21, so that the movable plate 222 abuts against the inner wall of one side of the fixed frame 21 to release the guide wire a.

[0087] The rapid exchange balloon b is controlled to move along the guidewire a in a direction away from the catheter delivery device 13 until the rapid exchange balloon b is separated from the guidewire a; and the guidewire a is controlled to enter the guidewire delivery device 11.

[0088] An embodiment of the present application also provides an interventional surgical robot, which includes the medical device delivery device as described above.

[0089] When assembling or disassembling the rapid exchange balloon b, the present application fixes the guide wire a through the guide wire tail end fixing mechanism 20 to prevent the guide wire a from displacement, increase the stability of the guide wire a, reduce the difficulty of operation, and thus improve the efficiency and accuracy of the operation.

[0090] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A medical device delivery device, wherein: include: A driving mechanism and a guide wire tail end fixing mechanism; the guide wire tail end fixing mechanism is used to clamp or release the guide wire; During assembly, after the guide wire is controlled to detach from the driving mechanism, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guide wire tail end fixing mechanism, the guide wire tail end fixing mechanism is controlled to clamp the guide wire, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the guide wire tail end fixing mechanism.

2. The medical device delivery apparatus according to claim 1, wherein: The distance between the driving mechanism and the guidewire tail end fixing mechanism is greater than the distance between the rapid exchange balloon head end and the rapid exchange port.

3. The medical device delivery device according to claim 1 or 2, wherein: The driving mechanism comprises a guide wire delivery device, a quick delivery device and a catheter delivery device which are arranged in sequence and at intervals; During assembly, after the guidewire is controlled to detach from the guidewire delivery device, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guidewire, and the tail end of the guidewire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guidewire tail end fixing mechanism to clamp the guidewire; the part before the rapid exchange port of the rapid exchange balloon is controlled to enter the catheter delivery device, and the part after the rapid exchange port of the rapid exchange balloon is controlled to enter the rapid exchange delivery device; the guidewire tail end fixing mechanism is controlled to release the guidewire, and the guidewire is controlled to enter the guidewire delivery device; During disassembly, after the guidewire is controlled to detach from the guidewire delivery device, the guidewire tail end fixing mechanism is controlled to clamp the guidewire; the rapid exchange balloon is controlled to move along the guidewire in a direction away from the catheter delivery device, so that the portion of the rapid exchange balloon in front of the rapid exchange port exits the catheter delivery device.

4. The medical device delivery device according to claim 1 or 2, wherein: The guide wire tail end fixing mechanism comprises a fixing frame and a clamping device, and the clamping device is movably arranged on the fixing frame; During assembly, after the guide wire is controlled to be separated from the driving mechanism, the rapid exchange balloon is controlled to pass through from the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, the rapid exchange port of the rapid exchange balloon is controlled to pass through the channel, and the guide wire is controlled to enter the channel, and the clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel; During disassembly, after the guide wire is controlled to detach from the driving mechanism, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, and the guide wire is controlled to enter the channel, the clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the driving mechanism, so that the part of the rapid exchange balloon in front of the rapid exchange port exits the driving mechanism.

5. The medical device delivery apparatus according to claim 4, wherein: The clamping device comprises a reset assembly and a movable plate; the reset assembly is arranged on the fixed frame and connected to the movable plate, and is used to drive the movable plate to move on the fixed frame; the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire; During assembly, the movable plate is controlled to move on the fixed frame to form the channel between the movable plate and the fixed frame, and after the guide wire is controlled to enter the channel, the reset component drives the movable plate to move on the fixed frame to make the movable plate abut against the inner wall of one side of the fixed frame to clamp the guide wire.

6. The medical device delivery apparatus according to claim 5, wherein: The fixing frame is provided with a receiving groove, the resetting assembly is located at the bottom of the receiving groove, the resetting assembly drives the movable plate to slide in the receiving groove, and the movable plate abuts against one side of the receiving groove to clamp the guide wire.

7. The medical device delivery apparatus according to claim 6, wherein: The reset assembly includes a first elastic member and a connecting plate. The first elastic member is disposed on the fixing frame and connected to the connecting plate, and is used to drive the connecting plate to drive the movable plate to slide on the fixing frame.

8. The medical device delivery apparatus of claim 5, wherein: A vertical plate is provided on one side of the fixed frame, a receiving groove is provided on the vertical plate, the reset component is provided on the vertical plate, one end of the movable plate is connected to the reset component, the reset component drives the movable plate to rotate in a direction toward or away from the receiving groove at one end away from the reset component, and the end of the movable plate abuts against the receiving groove to clamp the guide wire.

9. The medical device delivery apparatus of claim 8, wherein: The reset assembly includes a second elastic member and a connecting column, the connecting column is arranged on the vertical plate, the two ends of the second elastic member are respectively connected to the connecting column and the movable plate, and one end of the movable plate away from the second elastic member is rotatably connected to the vertical plate.

10. The medical device delivery apparatus of claim 8, wherein: A connecting plate is provided at one end of the movable plate adjacent to the accommodating groove, and an end of the connecting plate away from the movable plate is rotatably connected to the vertical plate.

11. An interventional surgical robot, wherein: The interventional surgical robot includes a medical device delivery device, and the medical device delivery device includes a driving mechanism and a guide wire tail end fixing mechanism; the guide wire tail end fixing mechanism is used to clamp or release the guide wire; During assembly, after the guide wire is controlled to detach from the driving mechanism, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guide wire tail end fixing mechanism, the guide wire tail end fixing mechanism is controlled to clamp the guide wire, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the guide wire tail end fixing mechanism.

12. The interventional surgery robot according to claim 11, wherein: The distance between the driving mechanism and the guidewire tail end fixing mechanism is greater than the distance between the rapid exchange balloon head end and the rapid exchange port.

13. The interventional surgery robot according to claim 11 or 12, wherein: The driving mechanism comprises a guide wire delivery device, a quick delivery device and a catheter delivery device which are arranged in sequence and at intervals; During assembly, after the guidewire is controlled to detach from the guidewire delivery device, the head end of the rapid exchange balloon is controlled to pass through the tail end of the guidewire, and the tail end of the guidewire passes through the rapid exchange port of the rapid exchange balloon, and the rapid exchange port of the rapid exchange balloon passes through the guidewire tail end fixing mechanism to clamp the guidewire; the part before the rapid exchange port of the rapid exchange balloon is controlled to enter the catheter delivery device, and the part after the rapid exchange port of the rapid exchange balloon is controlled to enter the rapid exchange delivery device; the guidewire tail end fixing mechanism is controlled to release the guidewire, and the guidewire is controlled to enter the guidewire delivery device; During disassembly, after the guidewire is controlled to detach from the guidewire delivery device, the guidewire tail end fixing mechanism is controlled to clamp the guidewire; the rapid exchange balloon is controlled to move along the guidewire in a direction away from the catheter delivery device, so that the portion of the rapid exchange balloon in front of the rapid exchange port exits the catheter delivery device.

14. The interventional surgery robot according to claim 11 or 12, wherein: The guide wire tail end fixing mechanism comprises a fixing frame and a clamping device, and the clamping device is movably arranged on the fixing frame; During assembly, after the guide wire is controlled to be separated from the driving mechanism, the rapid exchange balloon is controlled to pass through from the tail end of the guide wire, and the tail end of the guide wire passes through the rapid exchange port of the rapid exchange balloon, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, the rapid exchange port of the rapid exchange balloon is controlled to pass through the channel, and the guide wire is controlled to enter the channel, and the clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel; During disassembly, after the guide wire is controlled to detach from the driving mechanism, the clamping device is controlled to move on the fixing frame to form a channel between the clamping device and the fixing frame, and the guide wire is controlled to enter the channel, the clamping device is controlled to move on the fixing frame to clamp the guide wire in the channel, and the rapid exchange balloon is controlled to move along the guide wire in a direction away from the driving mechanism, so that the part of the rapid exchange balloon in front of the rapid exchange port exits the driving mechanism.

15. The interventional surgery robot according to claim 14, wherein: The clamping device comprises a reset assembly and a movable plate; the reset assembly is arranged on the fixed frame and connected to the movable plate, and is used to drive the movable plate to move on the fixed frame; the movable plate abuts against the inner wall of one side of the fixed frame to clamp the guide wire; During assembly, the movable plate is controlled to move on the fixed frame to form the channel between the movable plate and the fixed frame, and after the guide wire is controlled to enter the channel, the reset component drives the movable plate to move on the fixed frame to make the movable plate abut against the inner wall of one side of the fixed frame to clamp the guide wire.

16. The interventional surgery robot according to claim 15, wherein: The fixing frame is provided with a receiving groove, the resetting assembly is located at the bottom of the receiving groove, the resetting assembly drives the movable plate to slide in the receiving groove, and the movable plate abuts against one side of the receiving groove to clamp the guide wire.

17. The interventional surgery robot according to claim 16, wherein: The reset assembly includes a first elastic member and a connecting plate. The first elastic member is disposed on the fixing frame and connected to the connecting plate, and is used to drive the connecting plate to drive the movable plate to slide on the fixing frame.

18. The interventional surgery robot according to claim 15, wherein: A vertical plate is provided on one side of the fixed frame, a receiving groove is provided on the vertical plate, the reset component is provided on the vertical plate, one end of the movable plate is connected to the reset component, the reset component drives the movable plate to rotate in a direction toward or away from the receiving groove at one end away from the reset component, and the end of the movable plate abuts against the receiving groove to clamp the guide wire.

19. The interventional surgery robot according to claim 18, wherein: The reset assembly includes a second elastic member and a connecting column, the connecting column is arranged on the vertical plate, the two ends of the second elastic member are respectively connected to the connecting column and the movable plate, and one end of the movable plate away from the second elastic member is rotatably connected to the vertical plate.

20. The interventional surgery robot according to claim 18, wherein: A connecting plate is provided at one end of the movable plate adjacent to the accommodating groove, and an end of the connecting plate away from the movable plate is rotatably connected to the vertical plate.

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